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EP2853976A3 - Debris sensor - Google Patents

Debris sensor Download PDF

Info

Publication number
EP2853976A3
EP2853976A3 EP14177333.3A EP14177333A EP2853976A3 EP 2853976 A3 EP2853976 A3 EP 2853976A3 EP 14177333 A EP14177333 A EP 14177333A EP 2853976 A3 EP2853976 A3 EP 2853976A3
Authority
EP
European Patent Office
Prior art keywords
debris
enable
autonomous
debris sensor
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP14177333.3A
Other languages
German (de)
French (fr)
Other versions
EP2853976A2 (en
EP2853976B1 (en
Inventor
Gregg W. Landry
David A. Cohen
Daniel Ozick
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
iRobot Corp
Original Assignee
iRobot Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by iRobot Corp filed Critical iRobot Corp
Priority to EP17194304.6A priority Critical patent/EP3287863B1/en
Priority to EP14177333.3A priority patent/EP2853976B1/en
Publication of EP2853976A2 publication Critical patent/EP2853976A2/en
Publication of EP2853976A3 publication Critical patent/EP2853976A3/en
Application granted granted Critical
Publication of EP2853976B1 publication Critical patent/EP2853976B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A piezoelectric debris sensor (125L, 125R) and associated signal processor (135) responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (125, 125R) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.
EP14177333.3A 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor Expired - Lifetime EP2853976B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP17194304.6A EP3287863B1 (en) 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor
EP14177333.3A EP2853976B1 (en) 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
PCT/US2004/002353 WO2005083541A1 (en) 2004-01-28 2004-01-28 Debris sensor for cleaning apparatus
EP12177385.7A EP2546714B1 (en) 2004-01-28 2004-01-28 Debris sensor
EP14177333.3A EP2853976B1 (en) 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor
EP04705997A EP1711873B1 (en) 2004-01-28 2004-01-28 Debris sensor for cleaning apparatus

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP12177385.7A Division EP2546714B1 (en) 2004-01-28 2004-01-28 Debris sensor
EP04705997A Division EP1711873B1 (en) 2004-01-28 2004-01-28 Debris sensor for cleaning apparatus

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP17194304.6A Division EP3287863B1 (en) 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor

Publications (3)

Publication Number Publication Date
EP2853976A2 EP2853976A2 (en) 2015-04-01
EP2853976A3 true EP2853976A3 (en) 2015-04-08
EP2853976B1 EP2853976B1 (en) 2017-10-04

Family

ID=34912872

Family Applications (4)

Application Number Title Priority Date Filing Date
EP17194304.6A Expired - Lifetime EP3287863B1 (en) 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor
EP14177333.3A Expired - Lifetime EP2853976B1 (en) 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor
EP12177385.7A Expired - Lifetime EP2546714B1 (en) 2004-01-28 2004-01-28 Debris sensor
EP04705997A Expired - Lifetime EP1711873B1 (en) 2004-01-28 2004-01-28 Debris sensor for cleaning apparatus

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP17194304.6A Expired - Lifetime EP3287863B1 (en) 2004-01-28 2004-01-28 Autonomous cleaning apparatus with debris sensor

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP12177385.7A Expired - Lifetime EP2546714B1 (en) 2004-01-28 2004-01-28 Debris sensor
EP04705997A Expired - Lifetime EP1711873B1 (en) 2004-01-28 2004-01-28 Debris sensor for cleaning apparatus

Country Status (5)

Country Link
EP (4) EP3287863B1 (en)
JP (1) JP2007519468A (en)
KR (8) KR101296410B1 (en)
AU (2) AU2004316426B2 (en)
WO (1) WO2005083541A1 (en)

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US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US7429843B2 (en) 2001-06-12 2008-09-30 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
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Also Published As

Publication number Publication date
EP3287863A1 (en) 2018-02-28
EP1711873B1 (en) 2012-12-19
KR20130131493A (en) 2013-12-03
EP1711873A4 (en) 2011-03-30
KR101271279B1 (en) 2013-06-04
KR101354369B1 (en) 2014-01-22
KR101233959B1 (en) 2013-02-15
EP2853976A2 (en) 2015-04-01
KR20110110870A (en) 2011-10-07
KR20140092417A (en) 2014-07-23
AU2004316426A1 (en) 2005-09-09
AU2004316426B2 (en) 2010-08-19
KR20110110869A (en) 2011-10-07
EP2546714A1 (en) 2013-01-16
KR20130131494A (en) 2013-12-03
KR20130004377A (en) 2013-01-09
KR101296410B1 (en) 2013-08-13
EP2546714B1 (en) 2014-07-23
EP2853976B1 (en) 2017-10-04
EP1711873A1 (en) 2006-10-18
WO2005083541A1 (en) 2005-09-09
EP3287863B1 (en) 2019-06-19
KR20120104428A (en) 2012-09-20
AU2010235871A1 (en) 2010-11-11
AU2010235871B2 (en) 2011-11-17
KR101425335B1 (en) 2014-08-01
JP2007519468A (en) 2007-07-19
KR20110009270A (en) 2011-01-27

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